A UAV for bridge inspection: Visual servoing control law with orientation limits

This paper describes the dynamics of an unmanned aerial vehicle (UAV) for monitoring of structures and maintenance of bridges. It presents a novel control law based on computer vision for quasi-stationary flights above a planar target. The first part of the UAV's mission is the navigation from...

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Bibliographic Details
Published in:Automation in construction 2007-11, Vol.17 (1), p.3-10
Main Authors: Metni, Najib, Hamel, Tarek
Format: Article
Language:English
Subjects:
Applied sciences
Automation
Bridge inspection
Bridges
Buildings. Public works
Exact sciences and technology
Measurements. Technique of testing
Unmanned aerial vehicles
Visual servoing
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Summary:This paper describes the dynamics of an unmanned aerial vehicle (UAV) for monitoring of structures and maintenance of bridges. It presents a novel control law based on computer vision for quasi-stationary flights above a planar target. The first part of the UAV's mission is the navigation from an initial position to a final position in an unknown 3D environment. The new control law uses the homography matrix computed from the information obtained from the vision system. The control scheme will be derived with backstepping techniques. In order to keep the camera's field of view, the control law uses saturation functions for bounding the UAV orientation and limiting it to very small values.
ISSN:0926-5805
1872-7891
DOI:10.1016/j.autcon.2006.12.010